int main()
{
// Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
int port_num = PortHandler(DEVICENAME);
// Initialize PacketHandler Structs
PacketHandler();
int dxl_comm_result = COMM_TX_FAIL; // Communication result
UINT8_T dxl_error = 0; // Dynamixel error
UINT8_T dxl_baudnum_read; // Read baudnum
// Open port
if (OpenPort(port_num))
{
printf("Succeeded to open the port!\n");
}
else
{
printf("Failed to open the port!\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Set port baudrate
if (SetBaudRate(port_num, BAUDRATE))
{
printf("Succeeded to change the baudrate!\n");
}
else
{
printf("Failed to change the baudrate!\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Read present baudrate of the controller
printf("Now the controller baudrate is : %d\n", GetBaudRate(port_num));
// Try factoryreset
printf("[ID:%03d] Try factoryreset : ", DXL_ID);
FactoryReset(port_num, PROTOCOL_VERSION, DXL_ID, OPERATION_MODE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
printf("Aborted\n");
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
return 0;
}
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
// Wait for reset
printf("Wait for reset...\n");
msecSleep(2000);
printf("[ID:%03d] FactoryReset Success!\n", DXL_ID);
// Set controller baudrate to Dynamixel default baudrate
if (SetBaudRate(port_num, FACTORYRST_DEFAULTBAUDRATE))
{
printf("Succeed to change the controller baudrate to : %d\n", FACTORYRST_DEFAULTBAUDRATE);
}
else
{
printf("Failed to change the controller baudrate\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
// Read Dynamixel baudnum
dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] DXL baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Write new baudnum
Write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE, NEW_BAUDNUM);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] Set Dynamixel baudnum to : %d\n", DXL_ID, NEW_BAUDNUM);
// Set port baudrate to BAUDRATE
if (SetBaudRate(port_num, BAUDRATE))
{
printf("Succeed to change the controller baudrate to : %d\n", BAUDRATE);
}
else
{
printf("Failed to change the controller baudrate\n");
printf("Press any key to terminate...\n");
_getch();
return 0;
}
msecSleep(200);
// Read Dynamixel baudnum
dxl_baudnum_read = Read1ByteTxRx(port_num, PROTOCOL_VERSION, DXL_ID, ADDR_PRO_BAUDRATE);
if ((dxl_comm_result = GetLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
PrintTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
else if ((dxl_error = GetLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
PrintRxPacketError(PROTOCOL_VERSION, dxl_error);
else
printf("[ID:%03d] Dynamixel Baudnum is now : %d\n", DXL_ID, dxl_baudnum_read);
// Close port
ClosePort(port_num);
return 0;
}
void FactoryReset(mozilla::dom::FactoryResetReason& aReason)
{
AssertMainThread();
PROXY_IF_SANDBOXED(FactoryReset(aReason));
}
void FactoryReset()
{
AssertMainThread();
PROXY_IF_SANDBOXED(FactoryReset());
}
// Process a touch event
void ProcessTouch(DisplayField *df)
{
if (df->IsButton())
{
Button *f = static_cast<Button*>(df);
currentButton = f;
mgr.Press(f, true);
Event ev = (Event)(f->GetEvent());
switch(ev)
{
case evTabControl:
case evTabPrint:
// case evTabFiles:
case evTabMsg:
case evTabInfo:
ChangeTab(f);
break;
case evAdjustActiveTemp:
case evAdjustStandbyTemp:
if (static_cast<IntegerButton*>(f)->GetValue() < 0)
{
static_cast<IntegerButton*>(f)->SetValue(0);
}
Adjusting(f);
mgr.SetPopup(setTempPopup, tempPopupX, popupY);
break;
case evAdjustSpeed:
case evExtrusionFactor:
Adjusting(f);
mgr.SetPopup(setTempPopup, tempPopupX, popupY);
break;
case evSetInt:
if (fieldBeingAdjusted != NULL)
{
int val = static_cast<const IntegerButton*>(fieldBeingAdjusted)->GetValue();
switch(fieldBeingAdjusted->GetEvent())
{
case evAdjustActiveTemp:
{
int heater = fieldBeingAdjusted->GetIParam();
if (heater == 0)
{
SerialIo::SendString("M140 S");
SerialIo::SendInt(val);
SerialIo::SendChar('\n');
}
else
{
SerialIo::SendString("G10 P");
SerialIo::SendInt(heater - 1);
SerialIo::SendString(" S");
SerialIo::SendInt(val);
SerialIo::SendChar('\n');
}
}
break;
case evAdjustStandbyTemp:
{
int heater = fieldBeingAdjusted->GetIParam();
if (heater > 0)
{
SerialIo::SendString("G10 P");
SerialIo::SendInt(heater - 1);
SerialIo::SendString(" R");
SerialIo::SendInt(val);
SerialIo::SendChar('\n');
}
}
break;
case evExtrusionFactor:
{
int heater = fieldBeingAdjusted->GetIParam();
SerialIo::SendString("M221 P");
SerialIo::SendInt(heater);
SerialIo::SendString(" S");
SerialIo::SendInt(val);
SerialIo::SendChar('\n');
}
break;
default:
{
const char* null cmd = fieldBeingAdjusted->GetSParam();
if (cmd != NULL)
{
SerialIo::SendString(cmd);
SerialIo::SendInt(val);
SerialIo::SendChar('\n');
}
}
break;
}
mgr.SetPopup(NULL);
StopAdjusting();
}
break;
case evAdjustInt:
if (fieldBeingAdjusted != NULL)
{
static_cast<IntegerButton*>(fieldBeingAdjusted)->Increment(f->GetIParam());
ShortenTouchDelay();
}
break;
case evMove:
mgr.SetPopup(movePopup, movePopupX, movePopupY);
break;
case evMoveX:
case evMoveY:
case evMoveZ:
SerialIo::SendString("G91\nG1 ");
SerialIo::SendChar((ev == evMoveX) ? 'X' : (ev == evMoveY) ? 'Y' : 'Z');
SerialIo::SendString(f->GetSParam());
SerialIo::SendString(" F6000\nG90\n");
break;
case evListFiles:
FileManager::DisplayFilesList();
break;
case evListMacros:
FileManager::DisplayMacrosList();
break;
case evCalTouch:
CalibrateTouch();
CheckSettingsAreSaved();
break;
case evFactoryReset:
PopupAreYouSure(ev, "Confirm factory reset");
break;
case evRestart:
PopupAreYouSure(ev, "Confirm restart");
break;
case evSaveSettings:
SaveSettings();
if (restartNeeded)
{
PopupRestart();
}
break;
case evSelectHead:
{
int head = f->GetIParam();
if (head == 0)
{
// There is no command to switch the bed to standby temperature, so we always set it to the active temperature
SerialIo::SendString("M140 S");
SerialIo::SendInt(activeTemps[0]->GetValue());
SerialIo::SendChar('\n');
}
else if (head < (int)maxHeaters)
{
if (heaterStatus[head] == 2) // if head is active
{
SerialIo::SendString("T-1\n");
}
else
{
SerialIo::SendChar('T');
SerialIo::SendInt(head - 1);
SerialIo::SendChar('\n');
}
}
}
break;
case evFile:
{
const char *fileName = f->GetSParam();
if (fileName != nullptr)
{
currentFile = fileName;
SerialIo::SendString("M36 /gcodes/"); // ask for the file info
SerialIo::SendString(currentFile);
SerialIo::SendChar('\n');
fpNameField->SetValue(currentFile);
// Clear out the old field values, they relate to the previous file we looked at until we process the response
fpSizeField->SetValue(0); // would be better to make it blank
fpHeightField->SetValue(0.0); // would be better to make it blank
fpLayerHeightField->SetValue(0.0); // would be better to make it blank
fpFilamentField->SetValue(0); // would be better to make it blank
generatedByText.clear();
fpGeneratedByField->SetChanged();
mgr.SetPopup(filePopup, (DisplayX - filePopupWidth)/2, (DisplayY - filePopupHeight)/2);
}
else
{
ErrorBeep();
}
}
break;
case evMacro:
{
const char *fileName = f->GetSParam();
if (fileName != nullptr)
{
if (fileName[0] == '*') // if it's a directory
{
}
else
{
SerialIo::SendString("M98 P/macros/");
SerialIo::SendString(fileName);
SerialIo::SendChar('\n');
}
}
else
{
ErrorBeep();
}
}
break;
case evPrint:
mgr.SetPopup(NULL);
if (currentFile != NULL)
{
SerialIo::SendString("M32 ");
SerialIo::SendString(currentFile);
SerialIo::SendChar('\n');
printingFile.copyFrom(currentFile);
currentFile = NULL; // allow the file list to be updated
CurrentButtonReleased();
ChangeTab(tabPrint);
}
break;
case evCancelPrint:
CurrentButtonReleased();
mgr.SetPopup(NULL);
currentFile = NULL; // allow the file list to be updated
break;
case evDeleteFile:
CurrentButtonReleased();;
PopupAreYouSure(ev, "Confirm file delete");
break;
case evSendCommand:
case evPausePrint:
case evResumePrint:
case evReset:
SerialIo::SendString(f->GetSParam());
SerialIo::SendChar('\n');
break;
case evScrollFiles:
FileManager::Scroll(f->GetIParam());
ShortenTouchDelay();
break;
case evKeyboard:
mgr.SetPopup(keyboardPopup, keyboardPopupX, keyboardPopupY);
break;
case evInvertDisplay:
nvData.lcdOrientation = static_cast<DisplayOrientation>(nvData.lcdOrientation ^ (ReverseX | ReverseY | InvertText | InvertBitmap));
lcd.InitLCD(nvData.lcdOrientation);
CalibrateTouch();
CheckSettingsAreSaved();
break;
case evSetBaudRate:
Adjusting(f);
mgr.SetPopup(baudPopup, fullWidthPopupX, popupY);
break;
case evAdjustBaudRate:
nvData.baudRate = f->GetIParam();
SerialIo::Init(nvData.baudRate);
baudRateButton->SetValue(nvData.baudRate);
CheckSettingsAreSaved();
CurrentButtonReleased();
mgr.SetPopup(NULL);
StopAdjusting();
break;
case evSetVolume:
Adjusting(f);
mgr.SetPopup(volumePopup, fullWidthPopupX, popupY);
break;
case evAdjustVolume:
nvData.touchVolume = f->GetIParam();
volumeButton->SetValue(nvData.touchVolume);
TouchBeep(); // give audible feedback of the touch at the new volume level
CheckSettingsAreSaved();
break;
case evSetLanguage:
Adjusting(f);
mgr.SetPopup(languagePopup, fullWidthPopupX, popupY);
break;
case evAdjustLanguage:
nvData.language = f->GetIParam();
languageButton->SetText(longLanguageNames[nvData.language]);
CheckSettingsAreSaved(); // not sure we need this because we are going to reset anyway
break;
case evYes:
CurrentButtonReleased();
mgr.SetPopup(nullptr);
switch (eventToConfirm)
{
case evFactoryReset:
FactoryReset();
break;
case evDeleteFile:
if (currentFile != nullptr)
{
SerialIo::SendString("M30 ");
SerialIo::SendString(currentFile);
SerialIo::SendChar('\n');
filesListTimer.SetPending();
currentFile = nullptr;
}
break;
case evRestart:
if (nvData != savedNvData)
{
SaveSettings();
}
Restart();
break;
default:
break;
}
eventToConfirm = evNull;
currentFile = NULL;
break;
case evCancel:
eventToConfirm = evNull;
currentFile = NULL;
CurrentButtonReleased();
mgr.SetPopup(NULL);
break;
case evKey:
if (!userCommandBuffer.full())
{
userCommandBuffer.add((char)f->GetIParam());
userCommandField->SetChanged();
}
break;
case evBackspace:
if (!userCommandBuffer.isEmpty())
{
userCommandBuffer.erase(userCommandBuffer.size() - 1);
userCommandField->SetChanged();
ShortenTouchDelay();
}
break;
case evSendKeyboardCommand:
if (userCommandBuffer.size() != 0)
{
SerialIo::SendString(userCommandBuffer.c_str());
SerialIo::SendChar('\n');
}
break;
default:
break;
}
